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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li>  </ul>
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<div class="title">collision_object_ex.h</div>  </div>
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<a href="collision__object__ex_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__container_8h.html">collision/i_collision_container.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__solver__entity__fcl_8h.html">collision/solvers/fcl/i_solver_entity_fcl.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">using namespace </span>solvers::solverFCL;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">class </span>SolverEntity_FCL;</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_deleter.html">   14</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_deleter.html">SolverEntity_FCLDeleter</a> {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keywordtype">void</span> operator()(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *p);</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;};</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_collision_object_ex.html">CollisionObjectEx</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a> {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">   27</a></span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a>() { fcl_solver_entity_valid_ = <span class="keyword">false</span>; }</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">   28</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a>() {}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  collide(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c,</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;          <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req = <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) <span class="keyword">const</span>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> BVCheck(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) <span class="keyword">const</span>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">virtual</span> std::shared_ptr&lt;const collision::RectangleAABB&gt; getAABB() <span class="keyword">const</span>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">int</span> getSolverEntity(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) <span class="keyword">const</span>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">   40</a></span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *<a class="code" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">getContainerInterface</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">solvers::solverFCL::ISolverEntity_FCL</a> *</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">   45</a></span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">getFclInterface</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">void</span> invalidateCollisionEntityCache(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">mutable</span> std::unique_ptr&lt;SolverEntity_FCL, SolverEntity_FCLDeleter&gt;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      fcl_entity_;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">bool</span> fcl_solver_entity_valid_;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;};</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1_collision_object_ex_html_a8c5a1b6ed938b80cd858d9107684ca9f"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">collision::CollisionObjectEx::~CollisionObjectEx</a></div><div class="ttdeci">virtual ~CollisionObjectEx()</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00028">collision_object_ex.h:28</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_container_html"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html">collision::ICollisionContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__container_8h_source.html#l00014">i_collision_container.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">collision::solvers::solverFCL::ISolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="i__solver__entity__fcl_8h_source.html#l00011">i_solver_entity_fcl.h:11</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_aabb5bfbf265a9816dd0e94fb3d883612"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">collision::CollisionObjectEx::getFclInterface</a></div><div class="ttdeci">virtual const solvers::solverFCL::ISolverEntity_FCL * getFclInterface(void) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00045">collision_object_ex.h:45</a></div></div>
<div class="ttc" id="i__solver__entity__fcl_8h_html"><div class="ttname"><a href="i__solver__entity__fcl_8h.html">i_solver_entity_fcl.h</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_deleter_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_deleter.html">collision::solvers::solverFCL::SolverEntity_FCLDeleter</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00014">collision_object_ex.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a358c5ace931619be56d441bdd8da4762"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">collision::CollisionObjectEx::CollisionObjectEx</a></div><div class="ttdeci">CollisionObjectEx()</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00027">collision_object_ex.h:27</a></div></div>
<div class="ttc" id="i__collision__container_8h_html"><div class="ttname"><a href="i__collision__container_8h.html">i_collision_container.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a13442077fa8b22d7af2ae035dec5debe"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">collision::CollisionObjectEx::getContainerInterface</a></div><div class="ttdeci">virtual const ICollisionContainer * getContainerInterface(void) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00040">collision_object_ex.h:40</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></div><div class="ttdoc">Provides functionality to use different collision solvers.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00024">collision_object_ex.h:24</a></div></div>
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